ORCA v1

Model: ORCA v1

ORCA v1 is the open-source anthropomorphic five-finger hand introduced by ETH Zürich's Soft Robotics Lab in 2025. It uses tendon actuation and integrated tactile sensors with 17 independently actuated DoF. The research paper reports material cost below US$2,000 and assembly by one person in under eight hours; this is a self-build cost, not a finished-product sale price. V1 is no longer produced, while its CAD, print files, control software, URDF/MJCF models, and simulation resources remain available as a legacy open-source design.